Localization Algorithm in the Magnetic Sensor System for the Automatic Driving

초록

Precise localization is one of key technologies for the automatic driving. Among various localization systems, magnetic sensor system can be employed to localize the auto driving car such as PRT(personal rapid transit) which is running a pre-defined path where magnets are embedded for certain spaces. Magnetic sensor system has the merit of simple structure and inexpensive components compared to other systems. In order to localize the embedded magnet which is passed most recently by the vehicle in the path from the acquired magnetic flux data set, various signal processing algorithms should be utilized for the precision improvement. Moreover, these algorithms should be implemented simply because the localization should be performed in real-time. In this study, various algorithms are introduced. Among them, pattern matching technique is used in order to pick the spot where the magnet is located. Reduction of the computational load is also considered. Simulation results and real system data are also provided in order to show performances of the proposed algorithms.